EP2738412A1 - Fahrzeugsteuerungsvorrichtung - Google Patents

Fahrzeugsteuerungsvorrichtung Download PDF

Info

Publication number
EP2738412A1
EP2738412A1 EP11869887.7A EP11869887A EP2738412A1 EP 2738412 A1 EP2738412 A1 EP 2738412A1 EP 11869887 A EP11869887 A EP 11869887A EP 2738412 A1 EP2738412 A1 EP 2738412A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
coasting
deceleration rate
engine
deceleration
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP11869887.7A
Other languages
English (en)
French (fr)
Other versions
EP2738412A4 (de
EP2738412B1 (de
Inventor
Katsumi Kono
Norimi Asahara
Jonggap Kim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
Original Assignee
Toyota Motor Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Publication of EP2738412A1 publication Critical patent/EP2738412A1/de
Publication of EP2738412A4 publication Critical patent/EP2738412A4/de
Application granted granted Critical
Publication of EP2738412B1 publication Critical patent/EP2738412B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
    • F02D—CONTROLLING COMBUSTION ENGINES
    • F02D7/00—Other fuel-injection control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D48/00—External control of clutches
    • F16D48/06—Control by electric or electronic means, e.g. of fluid pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • B60W2030/1809—Without torque flow between driveshaft and engine, e.g. with clutch disengaged or transmission in neutral
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/31—Signal inputs from the vehicle
    • F16D2500/3101—Detection of a brake actuation by a sensor on the brake
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/31—Signal inputs from the vehicle
    • F16D2500/3108—Vehicle speed
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/312—External to the vehicle
    • F16D2500/3125—Driving resistance, i.e. external factors having an influence in the traction force, e.g. road friction, air resistance, road slope
    • F16D2500/3127—Road slope
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/314—Signal inputs from the user
    • F16D2500/31406—Signal inputs from the user input from pedals
    • F16D2500/3144—Accelerator pedal position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/30—Signal inputs
    • F16D2500/314—Signal inputs from the user
    • F16D2500/3146—Signal inputs from the user input from levers
    • F16D2500/31466—Gear lever
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/50—Problem to be solved by the control system
    • F16D2500/508—Relating driving conditions
    • F16D2500/5085—Coasting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70402—Actuator parameters
    • F16D2500/7041—Position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2500/00—External control of clutches by electric or electronic means
    • F16D2500/70—Details about the implementation of the control system
    • F16D2500/704—Output parameters from the control unit; Target parameters to be controlled
    • F16D2500/70422—Clutch parameters
    • F16D2500/70424—Outputting a clutch engaged-disengaged signal
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect

Definitions

  • the invention relates to a vehicle control device.
  • Patent Document 1 discloses a technique of taking an accelerator depression amount and a clutch revolution speed as indexes and determining whether or not to execute coasting on the basis of the movement of the coordinate points of those indexes on a coasting control determination map.
  • Patent Document 1 Japanese Patent Application Publication No. 2010-203544
  • the implementation of coasting can be contrary to the driver's intention to decelerate depending on the traveling environment or traveling scene of the vehicle, which may provide a sense of anxiety or discomfort to the driver.
  • the implementation of coasting can provide a sense of anxiety or discomfort to the driver.
  • the invention has been created with the foregoing in view, and it is an object thereof to provide a vehicle control device capable of suppressing the implementation of coasting that can provide a sense of anxiety or discomfort to the driver.
  • the invention provides a vehicle control device for a vehicle capable of coasting, in which when there is no acceleration or deceleration request to the vehicle while traveling, power transmission between an engine and drive wheels is cut off and the vehicle is allowed to travel by inertia, wherein in a state in which there is no acceleration or deceleration request to the vehicle while traveling and power is transmitted between the engine and the drive wheels, whether or not to implement the coasting is determined by comparing a required deceleration rate that is estimated as a deceleration rate to be later required of the vehicle and a coasting deceleration rate that is estimated as a deceleration rate when the coasting is implemented, and where it is determined to implement the coasting, power transmission between the engine and the drive wheels is cut off and the coasting is implemented, and where it is determined not to implement the coasting, power transmission between the engine and the drive wheels is maintained.
  • the required deceleration rate be the larger of an expected deceleration rate when there is no deceleration request to the vehicle, and an expected deceleration rate when there is a deceleration request to the vehicle.
  • the expected deceleration rate when there is no deceleration request to the vehicle be determined on the basis of a vehicle speed and a road grade.
  • the vehicle control device include an information acquisition device that acquires surrounding information relating to the vehicle, and that the expected deceleration rate when there is a deceleration request to the vehicle be estimated from the surrounding information relating to the vehicle that is acquired by the information acquisition device.
  • a determination criterion for determining whether or not to implement the coasting be changed according to the traveling scene relating to the vehicle.
  • control of stopping fuel injection to the engine be additionally implemented when it is determined that the coasting is not to be performed.
  • the vehicle control device in accordance with the invention when the coasting conditions are fulfilled, whether or not to implement the coasting is determined by comparing a required deceleration rate that is estimated as a deceleration rate to be later required of the vehicle and a coasting deceleration rate that is estimated as a deceleration rate when the coasting is implemented. Therefore, the implementation of coasting can be avoided by using the relationship between the required deceleration rate and coasting deceleration rate. As a result, it is unlikely that the coasting be implemented, for example, when the driver wishes to perform deceleration at a rate greater than the present deceleration rate, and the frequency of providing a sense of anxiety or discomfort to the driver can be greatly reduced. The resultant effect is that the vehicle control device in accordance with the invention can suppress the implementation of coasting that can provide a sense of anxiety or discomfort to the driver.
  • FIG. 1 The configuration of a vehicle control device 10 according to an embodiment of the invention is initially explained with reference to FIG. 1 . As shown in FIG. 1 , the vehicle control device 10 of the present embodiment is installed on a vehicle 1.
  • the vehicle 1 is provided with an engine 2, a transmission 3, and drive wheels 4.
  • the engine 2 is an internal combustion engine which is a drive unit of the vehicle 1.
  • the drive power of the engine is controlled according to the fuel injection amount.
  • the transmission 3 is a drive power transmitting mechanism that transmits the drive power generated by the engine 2 to the drive wheel 4 side.
  • a clutch C1 that is detachably connected to the rotating shaft of the engine 2 is provided in the transmission 3.
  • the clutch C1 is, for example, a clutch device of a friction engagement system. When the clutch is engaged, the engine 2 and the drive wheels 4 are connected, and the drive power of the engine 2 is transmitted to the drive wheel 4 side.
  • the clutch When the clutch is disengaged, the engine and the drive wheels are disconnected and the transmission of drive power from the engine 2 to the drive wheel 4 side can be cut off.
  • the drive wheels 4 are driven by the drive power of the engine 2 transmitted by the transmission 3 and enable the vehicle 1 to travel forward or rearward.
  • Components of the vehicle 1, such as the engine 2 and the transmission 3 (clutch C1) are controlled by the vehicle control device 10 on the basis of information of various sensors located in the vehicle.
  • the vehicle control device 10 is configured to be capable of cutting off power transmission between the engine 2 and the drive wheels 4 and executing the coasting control that allows the vehicle 1 to travel by inertia when there is no acceleration or deceleration request to the vehicle 1 while traveling.
  • the coasting control includes at least one of a deceleration eco-run control, free-run control, and N inertial control.
  • the deceleration eco-run control, free-run control, and N inertial control are running controls that cause the vehicle 1 to travel in a state in which the clutch C1 is disengaged and the transmission of power between the engine 2 and the drive wheels 4 is cut off. Such controls execute coasting in which the vehicle 1 is allowed to travel by inertia.
  • the vehicle 1 In the deceleration eco-run control and free-run control, the vehicle 1 is allowed to travel in a state with disengaged clutch C1 and stopped engine 2. In the deceleration eco-run control and free-run control, fuel economy can be improved since fuel consumption by the engine 2 is stopped.
  • the difference between the deceleration eco-run control and the free-run control it that the deceleration eco-run control mainly stops the operation of the engine 2 and executes idling stop when the vehicle 1 is decelerated or stopped following the braking operation performed by the driver, whereas the free-run control actively stops the operation of the engine 2 and executes idling stop not only when the vehicle 1 is decelerated or stopped after braking.
  • the N inertia control causes the vehicle 1 to travel in a state in which the clutch C1 is disengaged, while the engine 2 operates.
  • the running load is reduced and fuel economy is improved since no engine brake operation is performed. Further, since the revolution of the engine 2 is maintained, excellent acceleration response is obtained when returning to normal operation from the N inertia control.
  • the inertial running control such as deceleration eco-run control, free-run control, and N inertial control is generally executed when no acceleration request is issued, for example, in the case of acceleration OFF.
  • the execution conditions of each control are set according, for example, to the brake operation state, vehicle speed, battery charge amount, and road grade.
  • the vehicle control device 10 of the present embodiment is also configured to be capable of executing the fuel cut-off control that stops fuel injection to the engine 2 as the vehicle travels, thereby making it possible to improve fuel economy.
  • the vehicle control device 10 is connected to an accelerator depression amount sensor 21, a shift position sensor 22, a vehicle speed sensor 23, a road grade sensor 24, a brake sensor 25, an infrastructure information acquisition unit 26, the engine 2, and the transmission 3 (clutch C1).
  • the accelerator depression amount sensor 21 detects the accelerator depression amount which is proportional to the operation amount of an accelerator pedal.
  • the shift position sensor 22 detects the shift position corresponding to the position of a shift lever.
  • the vehicle speed sensor 23 detects the running speed of the vehicle 1.
  • the vehicle speed sensor 23 can detect the vehicle speed, for example, on the basis of the rotation speed of each wheel of the vehicle 1.
  • the road grade sensor 24 detects a road grade.
  • the road grade sensor 24 can detect or estimate the grade of the road where the vehicle 1 travels on the basis, for example, of the inclination of the vehicle 1 in the longitudinal direction.
  • the brake sensor 25 detects the operation amount of the brake pedal or where or not the brake operation is performed.
  • the operation amount of the brake pedal is, for example, the pedal stroke of the brake pedal or the depression force applied to the brake pedal.
  • the presence/absence of the brake operation can be determined, for example, buy a switch connected to the brake pedal.
  • the infrastructure information acquisition unit (information acquisition unit) 26 acquires infrastructure information (surrounding information) on the surroundings of the vehicle 1 that can be acquired in cooperation with the infrastructure.
  • the infrastructure information acquisition unit 26 can be configured of various devices such as a device in which information of various types is transmitted or received by a transceiver, such as a light beacon disposed at the road side, to or from a road communication unit of the vehicle 1, a global positioning system (GPS) device, a navigation device, a vehicle-to-vehicle communication unit, and a device receiving information from a vehicle information and communication system (VICS) center or the like.
  • the infrastructure information acquisition unit 26 acquires, for example, road information on the road where the vehicle 1 travels or signal information relating to traffic lights in front of the vehicle 1 as the infrastructure information.
  • the road information typically includes speed limit information on the road where the vehicle 1 travels and stop line position information on the intersections.
  • the signal information typically includes signal cycle information on lighting cycles of green light, yellow light, and red light of traffic lights or signal change
  • the vehicle control device 10 determines whether or not to execute the coasting control on the basis of input information from the accelerator depression amount sensor 21, shift position sensor 22, vehicle speed sensor 23, road grade sensor 24, brake sensor 25, and infrastructure information acquisition unit 26, and executes the disengagement control of the clutch C1 of the transmission 3 or the fuel cut-off control that stops fuel injection in the engine 2 according to the determination result.
  • the vehicle control device 10 is configured to realize the functions of a required deceleration rate calculation unit 11, a coasting deceleration rate calculation unit 12, a determined leveling amount calculation unit 13, a coasting determination unit 14, a fuel injection control unit 15, and a clutch control unit 16.
  • the required deceleration rate calculation unit 11 calculates the estimated value of the deceleration rate that will be required by the driver operating the vehicle 1, in other words, the required deceleration rate Dt representing the estimated value of the deceleration rate that will be later required of the vehicle 1, while the vehicle 1 travels. More specifically, the required deceleration rate calculation unit 11 separately calculates the "expected deceleration rate Dt_int when there is a deceleration request to the vehicle 1" and the "expected deceleration rate Dt_unint when there is no deceleration request to the vehicle 1 (when cruising is intended)", and calculates the larger of the two as the required deceleration rate Dt. The calculation of Dt_int and Dt_unint is explained hereinbelow with reference to FIGS. 2 to 4 .
  • the coasting deceleration rate calculation unit 12 calculates the deceleration rate of the vehicle 1 when the engine is disconnected, that is, a coasting deceleration rate Dn representing the estimated value of the deceleration rate of the vehicle 1 when engine disconnection (clutch disengagement) is executed in the present running state.
  • the coasting deceleration degree Dn can be calculated from the vehicle speed, road grade, aerodynamic resistance of the vehicle 1, and friction torques of various components of the vehicle 1. The calculation process is explained in detail hereinbelow with reference to FIGS. 2 and 5 .
  • the determined leveling amount calculation unit 13 calculates the determined leveling amount ⁇ D for determining whether or not to execute the coasting control.
  • the determined leveling amount ⁇ D can be varied according to the traveling scene.
  • the coasting determination unit 14 determines whether or not to execute the coasting control on the basis of the required deceleration rate Dt calculated by the required deceleration rate calculation unit 11, the coasting deceleration rate Dn calculated by the coasting deceleration rate calculation unit 12, and the determined leveling amount ⁇ D calculated by the determined leveling amount calculation unit 13, when the conditions for coasting are fulfilled.
  • a control command is transmitted to the clutch control unit 16, the disengagement control of the clutch C1 is executed, power transmission between the engine 2 and the drive wheels 4 is cut off, and coasting is executed.
  • a control command is sent to the fuel injection control unit 15, while maintaining power transmission between the engine 2 and the drive wheels 4, and fuel cut-off control that stops fuel injection to the engine 2 is executed.
  • the fuel injection control unit 15 controls the fuel injection amount of the engine 2 in response to the control command from the coasting determination unit 14.
  • the clutch control unit 16 controls the engagement/disengagement of the clutch C1 of the transmission 3 in response to the control command from the coasting determination unit 14.
  • the vehicle control device 10 is physically an electronic control unit (ECU) having a central processing unit (CPU), a random access memory (RAM), and a read only memory (ROM).
  • ECU electronice control unit
  • CPU central processing unit
  • RAM random access memory
  • ROM read only memory
  • the functions of various units of the vehicle control device 10 shown in FIG. 1 are realized by loading the application program stored in the ROM into the RAM and executing the program with the CPU, whereby the devices in the vehicle 1 are operated on the basis of CPU control and data in the RAM or ROM are read and written.
  • the vehicle control device 10 is not limited to the functions of the abovementioned units and is provided with various other functions used as the ECU of the vehicle 1.
  • the abovementioned ECU may be also configured to include a plurality of ECU such as an engine ECU that controls the engine 2, a transmission (T/M)-ECU that controls the transmission 3, and a start & stop (S&S)-ECU for executing the coasting (S&S control).
  • a plurality of ECU such as an engine ECU that controls the engine 2, a transmission (T/M)-ECU that controls the transmission 3, and a start & stop (S&S)-ECU for executing the coasting (S&S control).
  • FIG. 2 is a flowchart illustrating the coasting control processing performed by the vehicle control device 10 according to the present embodiment.
  • FIG. 3 illustrates a method for calculating the expected deceleration rate Dt_int when there is a deceleration request to the vehicle 1.
  • FIG. 4 illustrates an example of a map for calculating the expected deceleration rate Dt_unint when there is no deceleration request to the vehicle 1.
  • FIG. 5 illustrates each element for calculating the coasting deceleration rate Dn.
  • the vehicle control device 10 of the present embodiment executes the coasting control processing of the vehicle 1 according to the flowchart shown in FIG. 2 .
  • the processing is executed, for example, in each predetermined period.
  • the coasting determination unit 14 verifies whether or not the present shift position of the vehicle 1 is a D (drive) range on the basis of input information from the shift position sensor 22 (S101).
  • the processing advances to step S102, and when the shift position is not the D range, the system waits till the shift position changes to the D range.
  • the coasting determination unit 14 determines that there is no acceleration or deceleration request to the vehicle 1 while the vehicle travels, the clutch C1 is engaged, power is transmitted between the engine 2 and the drive wheels 4, and the coasting conditions are fulfilled, and executes the processing of step S103 and subsequent steps.
  • the expected deceleration rate Dt_int when there is a deceleration request to the vehicle 1 is then calculated by the required deceleration rate calculation unit 11 (S103).
  • the "expected deceleration rate when there is a deceleration request to the vehicle 1" means the deceleration rate which is supposedly required by the driver from the vehicle 1 in response to the presence of an object under the condition that the object, which the reason why the driver intends to decelerate the vehicle 1, is present in the travel direction in front of the vehicle 1.
  • the expected deceleration rate Dt_int in this case varies according to the type of the object and the distance to the mark at which the object is reached.
  • the required deceleration rate calculation unit 11 calculates the expected deceleration rate Dt_int when there is a deceleration request to the vehicle 1 by Eq. (1) below on the basis of the vehicle speed detected by the vehicle speed sensor 23 and the infrastructure information acquired by the infrastructure information acquisition unit 26.
  • Dt_int Va ⁇ Va - Vb ⁇ Vb / 2 / L where Va is the present vehicle speed, Vb is the target vehicle speed at the mark, and L is the distance from the present position to the mark. Va is detected by the vehicle speed sensor 23.
  • Vb and L can be variously set according to the type of the object.
  • the object present in front of the vehicle can be identified and set according to the traveling scene by using the infrastructure information acquired by the infrastructure information acquisition unit 26. Examples, of the object include red light, stop sign, grade crossing, corner in front, and a vehicle decelerating in front. Examples of setting of Vb and L in such cases are presented below.
  • the target vehicle speed Vb at the mark decreases below the present vehicle speed Va, as shown in FIG. 3 . Therefore, the expected deceleration rate Dt_int calculated by Eq. (1) increases with the increase in difference between Va and Vb (segment A in FIG. 3 ) and with the distance L from the present position to the mark.
  • the required deceleration rate calculation unit 11 then calculates the expected deceleration rate Dt_unint when there is no deceleration request to the vehicle 1 (S104).
  • the expected deceleration rate when there is no deceleration request to the vehicle 1 means the deceleration rate estimated to be required by the driver of the vehicle 1 according to the running state or road state during cruising of the vehicle 1.
  • the required deceleration rate calculation unit 11 calculates the expected deceleration rate Dt_unint when there is no deceleration request to the vehicle 1 by Eq. (2) on the basis of the vehicle speed detected by the vehicle speed sensor 23 and the road grade detected by the road grade sensor 24.
  • Dt_unint MAP V ⁇ where V is the present speed of the vehicle 1, and ⁇ is the present grade of the road where the vehicle 1 travels.
  • the road is uphill or downhill when the grade ⁇ has a positive or negative value, respectively. Va is detected by the vehicle speed sensor 23, and ⁇ is detected by the road grade sensor 24.
  • Eq. (2) determines the expected deceleration rate Dt_unint on the basis of the vehicle speed V and grade ⁇ by using a map representing the relationship between the vehicle speed V, grade ⁇ , and expected deceleration rate Dt_unint, such as shown by way of example in FIG. 4 .
  • the road grade ⁇ is plotted against the abscissa
  • the expected deceleration rate Dt_unint is plotted against the ordinate.
  • the degree of deceleration increases with the transition in the positive direction along the ordinate, and the degree of acceleration increases with the transition in the negative direction along the ordinate.
  • a plurality of graphs in which variations in the expected deceleration rate Dt_unint are plotted correspondingly to the road grade ⁇ is shown for different vehicle speeds V.
  • the expected deceleration rate Dt_unint is set to be substantially constant regardless of the road grade, whereas when the road grade ⁇ has a negative value, the expected deceleration rate Dt_unint is set to increase as the graph advances in the negative direction, that is, as the downhill grade increases.
  • the plurality of graphs corresponding to the vehicle speed V shifts upward as the vehicle speed V increases, that is, in the direction of increasing expected deceleration rate Dt_unint.
  • the expected deceleration rate Dt_unint is set to increase with the increase in the downhill grade and increase in the vehicle speed.
  • the required deceleration rate calculation unit 11 then calculates the required deceleration rate Dt (S 105).
  • the required deceleration rate calculation unit 11 calculates the required deceleration rate Dt by the following Eq. (3).
  • Dt Max Dt_int , Dt_unint where Dt_int is an expected deceleration rate when there is a deceleration request to the vehicle 1, this expected deceleration rate being calculated in step S103, and Dt_unint is an expected deceleration rate when there is no deceleration request to the vehicle 1, this expected deceleration rate being calculated in step S104.
  • the coasting deceleration rate calculation unit 12 then calculates the coasting deceleration rate Dn representing the deceleration rate of the vehicle 1 when the engine is disconnected (clutch is disengaged) in the present running state (S106).
  • the air resistance F AIR can be represented in greater detail by Eq. (5).
  • F AIR 1 / 2 ⁇ C D ⁇ ⁇ V 2 ⁇ A
  • C D is an air resistance coefficient
  • ⁇ is an air density
  • V is a vehicle speed
  • A is a projection area of the front surface of the vehicle 1.
  • the coasting deceleration rate Dn can be calculated by the following Eq. (6) on the basis of Eq. (4).
  • Dn g ⁇ sin ⁇ + F FRIC + F AIR / M
  • the determined leveling amount ⁇ D for determining whether or not to execute the coasting control is then calculated by the determined leveling amount calculation unit 13 (S107).
  • the determined leveling amount calculation unit 13 can perform calculations by changing the determined leveling amount ⁇ D according to the traveling scene.
  • the determined leveling amount ⁇ D is a parameter for adjusting the determination criterion relating to whether to not to implement the coasting in the below-described coasting determination (see step S108).
  • the term "traveling scene" used in the present embodiment means surrounding factors relating to the frequency of acceleration and deceleration of the vehicle 1. More specifically, the traveling scene includes traffic congestion, a short distance to the vehicle in front, traveling in urban areas, small variations in vehicle speed or accelerator depression amount in a fixed past period of time, traveling in suburbs, traveling on highways or superhighways, and traveling on flat roads.
  • the determined leveling amount calculation unit 13 sets a small determined leveling amount ⁇ D and the coasting is unlikely to occur.
  • the traveling scene is small variations in vehicle speed or accelerator depression amount in a fixed past period of time, traveling in suburbs, traveling on highways or superhighways, and traveling on flat roads, the coasting can be expected to improve fuel economy. Therefore, a large determined leveling amount ⁇ D is set and the occurrence of coasting is facilitated. Information on the calculated determined leveling amount ⁇ D is transmitted to the coasting determination unit 14.
  • the coasting determination unit 14 determines whether or not to implement the coasting (S108). More specifically, the coasting determination unit 14 performs the determination by using the condition represented by formula (7) below. Dt ⁇ Dn + ⁇ D where Dt is the required deceleration rate Dt calculated in step S105, Dn is the coasting deceleration rate Dn calculated in step S106, and ⁇ D is the determined leveling amount ⁇ D calculated in step S107.
  • the coasting determination unit 14 determines that the deceleration rate sought by the driver (required deceleration rate Dt) is less than the deceleration rate occurring when coasting is implemented (coasting deceleration rate Dn) and that the coasting is unlikely to provide a sense of anxiety or discomfort to the driver, and thus determines that the coasting can be implemented.
  • step S108 the clutch C1 in the transmission 3 is disengaged by the clutch control unit 16, the engine 2 and the drive wheels 4 are disconnected, power transmission between the engine and 2 and the drive wheels 4 is cut off, and the vehicle 1 starts coasting (S109).
  • the fuel injection control unit 15 may be also configured such as to implement the control of cutting off the injection of fuel in the engine 2 at this time.
  • step S108 where the condition represented by formula (7) above is not fulfilled in step S108, the deceleration rate sought by the driver (required deceleration rate Dt) is greater than the deceleration rate occurring when coasting is implemented (coasting deceleration rate Dn) and it is determined that the implementation of coasting can provide a sense of anxiety or discomfort to the driver and, therefore, it is determined that the coasting cannot be implemented.
  • the engine disconnection (clutch disengagement) is not performed and power transmission between the engine 2 and the drive wheels 4 is maintained.
  • the fuel injection control unit 15 performs the control to cut off fuel injection in the engine 2 (S110).
  • step S107 the implementation order of calculation processing of the required deceleration rate Dt in steps S103 to S105, coasting deceleration rate Dn in step S106, and determined leveling amount ⁇ D in step S107 can be changed as appropriate.
  • the vehicle control device 10 of the present embodiment is for the vehicle 1 capable of coasting, in which when there is no acceleration or deceleration request to the vehicle 1 while traveling, power transmission between the engine 2 and the drive wheels 4 is cut off and the vehicle 1 is allowed to travel by inertia.
  • the vehicle control device 10 is configured such that in a state in which there is no acceleration or deceleration request to the vehicle 1 while traveling and power is transmitted between the engine 2 and the drive wheels 4, whether or not to implement the coasting is determined by comparing the required deceleration rate Dt which is estimated as a deceleration rate to be later required of the vehicle 1 and the coasting deceleration rate Dn which is estimated as a deceleration rate when the coasting is implemented. Where it is determined to implement the coasting, power transmission between the engine 2 and the drive wheels 4 is cut off and the coasting is implemented, and where it is determined not to implement the coasting, power transmission between the engine 2 and the drive wheels 4 is maintained.
  • the implementation of coasting can be avoided by using the relationship between the required deceleration rate Dt and the coasting deceleration rate Dn.
  • the coasting it is unlikely that the coasting be implemented, for example, when the driver wishes to perform deceleration at a rate greater than the present deceleration rate, and the frequency of providing a sense of anxiety or discomfort to the driver can be greatly reduced.
  • the implementation of coasting that can provide a sense of anxiety or discomfort to the driver can be suppressed.
  • the required deceleration rate Dt is the larger of the expected deceleration rate Dt_unint when there is no deceleration request to the vehicle 1 and the expected deceleration rate Dt_int when there is a deceleration request to the vehicle 1.
  • the deceleration rate required by the driver can be determined with consideration for a wide range of traveling scenes, inclusive of the case in which there is a deceleration request from the driver to the vehicle 1 and the case in which there is no deceleration request and the driver unconsciously wants the vehicle to run steady. Therefore, the frequency of providing a sense of anxiety or discomfort to the driver can be further reduced.
  • the expected deceleration rate Dt_unint when there is no deceleration request to the vehicle 1 is determined on the basis of the vehicle speed V and the road grade ⁇ .
  • a sense of discomfort provided to the driver during coasting varies depending on the present speed V of the vehicle 1 and the grade ⁇ of the road where the vehicle 1 travels. For example, a sense of discomfort apparently increases when the vehicle travels at a high speed or down a steep hill. Accordingly, with the configuration in which the expected deceleration rate Dt_unint is determined on the basis of the vehicle speed V and the road grade ⁇ , the coasting can be implemented while reducing a sense of anxiety or discomfort in a wide range of traveling scenes.
  • the vehicle control device 10 of the present embodiment includes the infrastructure information acquisition unit 26 that acquires surrounding information relating to the vehicle 1, and the expected deceleration rate Dt_int when there is a deceleration request to the vehicle 1 is estimated from the surrounding information relating to the vehicle 1 that is acquired by the infrastructure information acquisition unit 26.
  • the discomfort provided to the driver during coasting varies depending on the distance L to the mark (signal or railroad crossing) which is the object for decelerating the vehicle 1, or the difference between the present vehicle speed Va and target vehicle speed Vb.
  • the distance to the mark is small or when the difference in speed in large, the desirable deceleration amount increases. Therefore, the implementation of coasting will apparently increase the discomfort. Accordingly, as a result of estimating the expected deceleration rate Dt_int on the basis of the surrounding information relating to the vehicle 1 that has been acquired by the infrastructure information acquisition unit 26, with consideration for the abovementioned increase in discomfort, the coasting can be implemented while reducing a sense of anxiety or discomfort in a wide range of traveling scenes.
  • a determination criterion for determining whether or not to implement the coasting is changed according to the traveling scene relating to the vehicle 1.
  • the frequency of causing a sense of discomfort in the driver changes according to the traveling scene.
  • the driver in a traveling scene with a high frequency of steady running periods, the driver is unlikely to be provided with a sense of discomfort when the coasting is implemented, but in a traveling scene with a large number of accelerations and decelerations, the driver is, conversely, often provided with a sense of discomfort.
  • the determination criterion as to whether or not to implement the coasting is changed according to the traveling scene, in a traveling scene in which a sense of discomfort is unlikely to be created by coasting, for example, when the frequency of steady running periods is high, it is possible to relax the determination criterion, facilitate the occurrence of coasting, and further improve fuel economy, whereas in a traveling scene in which a sense of discomfort is easily created by coasting, for example, when the frequency of accelerations and decelerations is high, a stringent determination criterion is selected, the coasting is unlikely to occur, and the frequency of causing a sense of discomfort can be reduced.
  • the control of stopping fuel injection to the engine 2 is additionally implemented, while maintaining power transmission between the engine 2 and the drive wheels 4, when it is determined that the coasting is not to be performed. Therefore, fuel consumption can be reduced and fuel economy can be additionally improved even when no coasting is implemented.
  • the configuration is explained in which fuel cut-off control that stops fuel injection to the engine 2 is implemented when it is determined not to implement the coasting, as shown in step S110 in the flowchart shown in FIG. 2 , but the configuration in which the fuel cut-off control is not implemented when it is detected not to implement the coasting may be also used.
  • the coasting determination unit 14 determines whether or not to implement the coasting by using formula (7), as shown in step S108 in the flowchart shown in FIG. 2 , but other conditional formulas can be also used.
  • a conditional formula (Dt ⁇ Dn) that compares the required deceleration rate Dt with the coasting deceleration rate Dn, without adding the determined leveling amount ⁇ D to the determination condition
  • a conditional formula (Dt ⁇ ⁇ ⁇ Dn) that compares the required deceleration rate Dt with the coasting deceleration rate Dn multiplied by a predetermined value ⁇
  • a conditional formula (Dt/Dn ⁇ ⁇ ) that compares the ratio of the required deceleration rate Dt and the coasting deceleration rate Dn with a predetermined value ⁇ may be used instead of formula (7).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Control Of Transmission Device (AREA)
  • Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
  • Hybrid Electric Vehicles (AREA)
EP11869887.7A 2011-07-25 2011-07-25 Fahrzeugsteuerungsvorrichtung Not-in-force EP2738412B1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2011/066871 WO2013014741A1 (ja) 2011-07-25 2011-07-25 車両制御装置

Publications (3)

Publication Number Publication Date
EP2738412A1 true EP2738412A1 (de) 2014-06-04
EP2738412A4 EP2738412A4 (de) 2015-07-08
EP2738412B1 EP2738412B1 (de) 2018-11-14

Family

ID=47600631

Family Applications (1)

Application Number Title Priority Date Filing Date
EP11869887.7A Not-in-force EP2738412B1 (de) 2011-07-25 2011-07-25 Fahrzeugsteuerungsvorrichtung

Country Status (7)

Country Link
US (1) US9533669B2 (de)
EP (1) EP2738412B1 (de)
JP (1) JP5733398B2 (de)
CN (1) CN103732937B (de)
BR (1) BR112014001906B1 (de)
RU (1) RU2561658C1 (de)
WO (1) WO2013014741A1 (de)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015120872A1 (de) * 2014-02-15 2015-08-20 Audi Ag Verfahren zum betrieb eines den fahrer bei einem ausrollvorgang unterstützenden fahrerassistenzsystems und kraftfahrzeug
WO2016142604A1 (fr) * 2015-03-10 2016-09-15 Peugeot Citroen Automobiles Sa Procédé et dispositif de contrôle de l'ouverture / fermeture de la chaîne de transmission d'un véhicule suivant un autre véhicule
WO2017097632A1 (de) * 2015-12-11 2017-06-15 Bayerische Motoren Werke Aktiengesellschaft Geschwindigkeitsregelsystem zur regelung der geschwindigkeit eines fahrzeugs
EP3196445A4 (de) * 2014-09-19 2018-07-18 Hitachi Automotive Systems, Ltd. Fahrzeugsteuerungsvorrichtung und fahrzeugsteuerungsverfahren
EP3318460A4 (de) * 2015-07-03 2019-03-13 Hitachi Automotive Systems, Ltd. Steuerungsvorrichtung für fahrzeug
EP3466788A4 (de) * 2016-05-27 2020-01-22 Hitachi Automotive Systems, Ltd. Fahrzeugsteuerungsvorrichtung
US11136033B2 (en) 2016-07-08 2021-10-05 Audi Ag Method for operating a driver assistance system in a motor vehicle, the system supporting the driver in coasting mode, and motor vehicle

Families Citing this family (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE112014002097T5 (de) * 2013-04-23 2015-12-31 Honda Motor Co., Ltd. Stufenlos variables Getriebe
JP6551647B2 (ja) * 2014-12-19 2019-07-31 三菱ふそうトラック・バス株式会社 車両の走行制御装置
JP6551648B2 (ja) * 2014-12-19 2019-07-31 三菱ふそうトラック・バス株式会社 車両の走行制御装置
JP6428324B2 (ja) * 2015-02-03 2018-11-28 トヨタ自動車株式会社 車両制御装置
WO2016136874A1 (ja) * 2015-02-25 2016-09-01 株式会社デンソー 車両の惰性走行を制御する車両制御装置
JP6565699B2 (ja) * 2015-02-25 2019-08-28 株式会社デンソー 車両制御装置
US9827955B2 (en) * 2015-03-06 2017-11-28 Ford Global Technologies, Llc Systems and methods to improve fuel economy using adaptive cruise in a hybrid electric vehicle when approaching traffic lights
JP6619558B2 (ja) * 2015-03-06 2019-12-11 株式会社Ｓｕｂａｒｕ ハイブリッド車両の制御装置
JP6481535B2 (ja) * 2015-07-14 2019-03-13 日産自動車株式会社 惰性走行制御方法及び惰性走行制御装置
DE102015213763B3 (de) * 2015-07-22 2016-10-06 Robert Bosch Gmbh Verfahren zum Ermitteln einer Drehmomentgenauigkeit eines von einem riemen-getriebenen Startergenerator einer Brennkraftmaschine auf die Brennkraftmaschine übertragenen Drehmoments, Recheneinheit und maschinenlesbares Speichermedium
DE102015222262B4 (de) * 2015-11-11 2020-04-23 Audi Ag Fahrerassistenzvorrichtung für ein Kraftfahrzeug sowie Verfahren zum Betreiben eines Kraftfahrzeugs
US10189453B2 (en) 2016-10-05 2019-01-29 Toyota Motor Engineering & Manufacturing North America, Inc. Coasting guidance timing and drive force adjustment
JP2018062310A (ja) * 2016-10-14 2018-04-19 日野自動車株式会社 車両制御装置
US9896106B1 (en) 2016-10-24 2018-02-20 Toyota Motor Engineering & Manufacturing North America, Inc. Coasting distance determination for coasting assistance system
US9898928B1 (en) 2016-10-25 2018-02-20 Toyota Motor Engineering & Manufacturing North America, Inc. Coasting guidance timing and learning based on approach lane
JP2018122819A (ja) * 2017-02-03 2018-08-09 いすゞ自動車株式会社 走行制御装置および走行制御方法
KR102286735B1 (ko) * 2017-04-07 2021-08-05 현대자동차 주식회사 차량 주행 제어 장치 및 방법
JP7024472B2 (ja) * 2018-02-07 2022-02-24 トヨタ自動車株式会社 変速制御装置
JP7180126B2 (ja) * 2018-06-01 2022-11-30 株式会社デンソー 走行制御装置
WO2021149114A1 (ja) * 2020-01-20 2021-07-29 中松　義郎 インターミッテント・エナジ・イナーシャ移動体及び移動方法
CN116923357B (zh) * 2022-02-14 2024-02-13 北京路凯智行科技有限公司 无人驾驶制动故障诊断系统

Family Cites Families (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4393964A (en) * 1979-03-23 1983-07-19 Ipanema Company Hybrid power system and method for operating same
JP3430272B2 (ja) * 1994-07-08 2003-07-28 日産自動車株式会社 自動変速機のロックアップ制御装置
US5713425A (en) * 1996-01-16 1998-02-03 Ford Global Technologies, Inc. Parallel hybrid powertrain for an automotive vehicle
JP3229215B2 (ja) * 1996-09-04 2001-11-19 株式会社日立製作所 自動走行装置
DE19650570A1 (de) * 1996-12-06 1998-06-10 Voith Turbo Kg Verfahren zur Regelung des Schleppmomentes in einem dieselelektrischen Antriebssystem und Antriebssystem
JP3503411B2 (ja) * 1997-04-16 2004-03-08 日産自動車株式会社 締結要素の制御装置
CA2211815A1 (en) * 1997-07-29 1999-01-29 Craig Luker Method and apparatus for determining vehicle brake effectiveness
US6138071A (en) * 1997-09-16 2000-10-24 Honda Giken Kogyo Kabushiki Kaisha Cruising control apparatus
US6019698A (en) * 1997-12-01 2000-02-01 Daimlerchysler Corporation Automated manual transmission shift sequence controller
US6307277B1 (en) * 2000-04-18 2001-10-23 General Motors Corporation Apparatus and method for a torque and fuel control system for a hybrid vehicle
DE10209514B4 (de) * 2001-03-30 2016-06-09 Schaeffler Technologies AG & Co. KG Antriebsstrang
JP3659212B2 (ja) * 2001-10-22 2005-06-15 日産自動車株式会社 歯車変速機の自動クラッチ制御装置
JP2004051023A (ja) * 2002-07-22 2004-02-19 Toyota Motor Corp 車両の制御装置
JP3843921B2 (ja) * 2002-09-20 2006-11-08 トヨタ自動車株式会社 車両用駆動制御装置
DE10320009A1 (de) * 2003-05-06 2004-12-02 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs
US7089102B2 (en) * 2003-09-12 2006-08-08 Ford Global Technologies, Llc Coasting downshift control for automatic transmissions
JP2005226701A (ja) * 2004-02-12 2005-08-25 Nissan Diesel Motor Co Ltd 車両の制御装置
SE0400605L (sv) * 2004-03-09 2005-01-25 Volvo Lastvagnar Ab Metod, system och datorprogram för automatisk frihjulning av fordon
GB0501763D0 (en) * 2005-01-28 2005-03-02 Torotrak Dev Ltd Powertrain control method and system
JP2007069787A (ja) * 2005-09-08 2007-03-22 Nissan Motor Co Ltd ハイブリッド車両の減速制御装置
US7572201B2 (en) * 2005-10-20 2009-08-11 Ford Global Technologies, Llc Electric hybrid powertrain system
JP5247000B2 (ja) * 2005-12-21 2013-07-24 日産自動車株式会社 車両のコースト減速制御装置
US7305300B2 (en) * 2006-02-13 2007-12-04 Ford Global Technologies, Llc Closed pedal deceleration control
JP2008081099A (ja) * 2006-08-29 2008-04-10 Nissan Motor Co Ltd ハイブリッド車両の制御装置
JP5162998B2 (ja) * 2006-10-12 2013-03-13 日産自動車株式会社 ハイブリッド車両のモード切り替え制御装置
JP2009234566A (ja) * 2008-03-03 2009-10-15 Nissan Motor Co Ltd ハイブリッド車両のクラッチ制御装置及びクラッチ制御方法
JP2010071299A (ja) * 2008-09-16 2010-04-02 Nissan Motor Co Ltd 自動変速機の手動ダウンシフト制御装置
JP5169910B2 (ja) 2009-03-04 2013-03-27 いすゞ自動車株式会社 惰行制御装置
JP5278134B2 (ja) * 2009-04-20 2013-09-04 いすゞ自動車株式会社 惰行制御装置
JP5272938B2 (ja) * 2009-07-16 2013-08-28 いすゞ自動車株式会社 惰行制御補助装置
JP2011088595A (ja) * 2009-10-26 2011-05-06 Mitsubishi Fuso Truck & Bus Corp ハイブリッド電気自動車の制御装置
DE102009057393A1 (de) 2009-12-08 2011-06-09 Daimler Ag Verfahren zum Steuern des Betriebs eines Fahrzeugs
KR101382859B1 (ko) * 2011-11-16 2014-04-09 현대자동차주식회사 연비 개선을 위한 자동변속기의 클러치 제어 방법
US8738215B2 (en) * 2012-05-04 2014-05-27 Ford Global Technologies, Llc Methods and systems for a hybrid vehicle
US8738217B2 (en) * 2012-05-04 2014-05-27 Ford Global Technologies, Llc Methods and systems for a hybrid vehicle
US9849786B2 (en) * 2014-09-02 2017-12-26 Ford Global Technologies, Llc Vehicle system and method for adjusting deceleration rate

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015120872A1 (de) * 2014-02-15 2015-08-20 Audi Ag Verfahren zum betrieb eines den fahrer bei einem ausrollvorgang unterstützenden fahrerassistenzsystems und kraftfahrzeug
US10550785B2 (en) 2014-09-19 2020-02-04 Hitachi Automotive Systems, Ltd. Vehicle control device and vehicle control method
EP3196445A4 (de) * 2014-09-19 2018-07-18 Hitachi Automotive Systems, Ltd. Fahrzeugsteuerungsvorrichtung und fahrzeugsteuerungsverfahren
WO2016142604A1 (fr) * 2015-03-10 2016-09-15 Peugeot Citroen Automobiles Sa Procédé et dispositif de contrôle de l'ouverture / fermeture de la chaîne de transmission d'un véhicule suivant un autre véhicule
FR3033540A1 (fr) * 2015-03-10 2016-09-16 Peugeot Citroen Automobiles Sa Procede et dispositif de controle de l’ouverture / fermeture de la chaine de transmission d’un vehicule suivant un autre vehicule
CN107454879A (zh) * 2015-03-10 2017-12-08 标致雪铁龙汽车股份有限公司 控制跟随另一车辆的车辆的传动链的断开/闭合的方法和装置
US10583836B2 (en) 2015-07-03 2020-03-10 Hitachi Automotive Systems, Ltd. Control apparatus for vehicle
EP3318460A4 (de) * 2015-07-03 2019-03-13 Hitachi Automotive Systems, Ltd. Steuerungsvorrichtung für fahrzeug
WO2017097632A1 (de) * 2015-12-11 2017-06-15 Bayerische Motoren Werke Aktiengesellschaft Geschwindigkeitsregelsystem zur regelung der geschwindigkeit eines fahrzeugs
US10858002B2 (en) 2015-12-11 2020-12-08 Bayerische Motoren Werke Aktiengesellschaft Speed control system for controlling the speed of a vehicle
EP3466788A4 (de) * 2016-05-27 2020-01-22 Hitachi Automotive Systems, Ltd. Fahrzeugsteuerungsvorrichtung
US10875534B2 (en) 2016-05-27 2020-12-29 Hitachi Automotive Systems, Ltd. Vehicle control device
US11136033B2 (en) 2016-07-08 2021-10-05 Audi Ag Method for operating a driver assistance system in a motor vehicle, the system supporting the driver in coasting mode, and motor vehicle

Also Published As

Publication number Publication date
CN103732937B (zh) 2016-06-01
JP5733398B2 (ja) 2015-06-10
EP2738412A4 (de) 2015-07-08
BR112014001906A2 (pt) 2017-02-21
EP2738412B1 (de) 2018-11-14
RU2561658C1 (ru) 2015-08-27
CN103732937A (zh) 2014-04-16
US20140156171A1 (en) 2014-06-05
BR112014001906B1 (pt) 2021-04-06
US9533669B2 (en) 2017-01-03
WO2013014741A1 (ja) 2013-01-31
JPWO2013014741A1 (ja) 2015-02-23

Similar Documents

Publication Publication Date Title
EP2738412B1 (de) Fahrzeugsteuerungsvorrichtung
US10654487B2 (en) Travel control apparatus of self-driving vehicle
JP5110309B2 (ja) 経済運転案内システム
WO2018038964A1 (en) Dynamic gap control for automated driving
JP2019188962A (ja) 車両の制御装置
US11827219B2 (en) Motion control device for moving body
EP2332794A1 (de) Fahrzeugentschleunigungs-hilfsvorrichtung
JP6966971B2 (ja) 自動駐車装置
WO2013046381A1 (ja) 車両制御装置
JP6580656B2 (ja) 車両制御装置
JP6580107B2 (ja) 車両制御装置
JP6630753B2 (ja) 走行態様認識装置
US10691124B2 (en) Control apparatus for vehicle
WO2018143351A1 (ja) 走行制御装置および走行制御方法
JP6986499B2 (ja) 車両の制御装置
CN110446643B (zh) 行驶控制装置、车辆及行驶控制方法
JP6958082B2 (ja) 走行制御装置、車両および走行制御方法
JP5257382B2 (ja) 車両制御システム
EP4170203B1 (de) Steuerungsvorrichtung für fahrzeug
CN111801259B (zh) 用于计算机动车辆的车轮处的最小扭矩的系统以及用于使用这样的计算系统来确定脚从加速器上抬起的时刻的系统
WO2018143352A1 (ja) 走行制御装置および走行制御方法
JP2020008095A (ja) 車両制御装置
JP2019098957A (ja) 車両の制御装置
JP2020131996A (ja) 走行制御装置、車両、および走行制御方法
JP2018176921A (ja) 車両の制御装置

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

17P Request for examination filed

Effective date: 20140124

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

DAX Request for extension of the european patent (deleted)
RA4 Supplementary search report drawn up and despatched (corrected)

Effective date: 20150609

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: EXAMINATION IS IN PROGRESS

17Q First examination report despatched

Effective date: 20171016

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

RIC1 Information provided on ipc code assigned before grant

Ipc: F16D 48/02 20060101AFI20180427BHEP

INTG Intention to grant announced

Effective date: 20180604

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

Ref country code: AT

Ref legal event code: REF

Ref document number: 1065197

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181115

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602011053982

Country of ref document: DE

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: DE

Ref legal event code: R084

Ref document number: 602011053982

Country of ref document: DE

REG Reference to a national code

Ref country code: GB

Ref legal event code: 746

Effective date: 20190205

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20181114

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1065197

Country of ref document: AT

Kind code of ref document: T

Effective date: 20181114

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190214

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190314

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190214

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190314

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20190215

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 602011053982

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20190815

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: TR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20190731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190731

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190731

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190725

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20190725

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20110725

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20210611

Year of fee payment: 11

Ref country code: IT

Payment date: 20210610

Year of fee payment: 11

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20210630

Year of fee payment: 11

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20181114

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20220531

Year of fee payment: 12

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20220725

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220725

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230427

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220725

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602011053982

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20240201